“Touch, also called tactition, mechanoreception or somatic sensation, is the sense of pressure perception, generally in the skin. There are a variety of nerve endings that respond to variations in pressure (e.g., firm, brushing, and sustained). (source)

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Denis Wood: “We rubbed everything I could put paper and a rubbing crayon on, concrete pavement, brick walks and walls, tree bark. We rubbed the sidewalk graffiti too, and of course all manhole covers, water meter covers and the like.”